Autonomous Vehicles Control, Part I: Car Longitudinal Velocity Control using P-D, I-First Order, 2/2 Second-Order and Notch Compensators Compared with a PID Controller

This research paper is the first in a series of research papers aiming at the investigation of an efficient control of autonomous vehicles.It starts with the control of autonomous car longitudinal velocity.The paper proposes a number of control compensators from the second generation introduced by the author since 2014 till now.The proposed compensators include: P-D, I-first order, 2/2 second-order and notch compensators.The compensators are tuned using hybrid manual-MATLAB optimization toolbox and an ITAE performance index.The performance of the control system using the proposed compensators is compared with the performance using a PID controller from a previous work applied to the same autonomous car.The comparison takes the form of quantitative form revealing the best compensator suitable to control the longitudinal velocity of the car considering both reference and disturbance inputs.